CN109085622A - A kind of unmanned plane positioning system based on RTK - Google Patents
A kind of unmanned plane positioning system based on RTK Download PDFInfo
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- CN109085622A CN109085622A CN201811192044.3A CN201811192044A CN109085622A CN 109085622 A CN109085622 A CN 109085622A CN 201811192044 A CN201811192044 A CN 201811192044A CN 109085622 A CN109085622 A CN 109085622A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 20
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 abstract description 21
- 238000013461 design Methods 0.000 abstract description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 206010000369 Accident Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of unmanned plane positioning system based on RTK disclosed by the invention, the data of RTK base station and the data of ground control station uniformly pass through server transport and are positioned and flown to unmanned plane control, change the transmission mode that previous positioning and control use two sets of data transmission modules respectively, two sets of data transmission modules are avoided to carry out work bring difficult design respectively and be difficult to compatible problem, greatly reduce the difficulty of design, improve the operation is stable degree of unmanned plane, the manufacturing expense and design cost of mostly a set of data transmission module are also saved simultaneously, eliminate the time of debugging, it improves work efficiency.
Description
Method field
The invention belongs to unmanned plane positioning fields, relate generally to a kind of unmanned plane positioning system based on RTK.
Background method
RTK (Real Time Kinematic), i.e. carrier phase difference technology, it can provide survey station point in real time and exist
Three-dimensional localization in specified coordinate system is as a result, and reach a centimetre class precision.Under RTK work pattern, RTK base station acquires satellite
Data, and movement station to is together sent its satellite observation and base station coordinate information by data-link, and movement station passes through
To collected satellite data and the data-link that receives carry out real-time carrier phase difference processing (lasting less than one second), obtain
The positioning result of Centimeter Level out.
Existing unmanned plane location technology is typically all to use RTK technology, and generally RTK rover station is arranged when in use
On unmanned plane, unmanned plane is connected to RTK base station by a set of data transmission module and carries out RTK positioning, then by another set of
Data transmission module and ground control station carry out flight control, this connection type causes, and have to consider simultaneously in design
The transmission range of two sets of data transmission modules meets the requirements, and increases design difficulty, is easy when designing fault because of unmanned plane
Two data transmission modules transmission range difference can frequently result in RTK positioning and flight control cannot carry out simultaneously, out
Existing aircraft accident.
Summary of the invention
Present invention aims at the defects for being directed to existing method, provide a kind of unmanned plane positioning system based on RTK, avoid
Two sets of data transmission modules respectively carry out work bring difficult design and are difficult to compatible problem, greatly reduce design
Difficulty, improves the operation is stable degree of unmanned plane, while also saving the manufacturing expense and design of mostly a set of data transmission module
Expense eliminates the time of debugging, improves work efficiency.
In order to solve the above technical problems, the present invention by the following method implemented by scheme:
A kind of unmanned plane positioning system based on RTK, including unmanned plane, ground control station, server and at least one RTK
Base station；
The RTK base station is connected to the server, for acquiring the reference coordinate number of Satellite Observations and itself
According to, and the Satellite Observations and the reference coordinate data are sent to the server；
The ground control station is connected to the server, for sending flight control instruction to the server；It is described
Flight control instruction is used to indicate the flight of the unmanned plane；
The server refers to for receiving the Satellite Observations, the reference coordinate data and flight control
It enables, and sends it to the unmanned plane；
The unmanned plane is connected to the server, including flight module and RTK rover station module；
The flight module, for being flown according to the flight control instruction received；
The RTK rover station module is seen for acquiring the fuzzy coordinate data of unmanned plane in conjunction with the satellite received
Measured data and the reference coordinate data obtain the accurate coordinate data of unmanned plane by carrier phase difference technology.
Further, the quantity of the RTK base station is multiple, and the fuzzy coordinate data is sent to by the unmanned plane
The server, the server carry out the fuzzy coordinate data and the reference coordinate data of multiple RTK base stations
Compare, determines best RTK base station；
The best RTK base station is for the reference coordinate data with the fuzzy coordinate data apart from shortest described
RTK base station；
The server sends the Satellite Observations of the best RTK base station and the reference coordinate data
It is positioned to the unmanned plane.
Further, the accurate coordinate data are sent to the ground by the server and controlled by the unmanned plane
It stands.
Further, the ground control station includes ground control module and display module；The ground control module is used
In the transmission flight control instruction to the server；The display module is for showing the accurate coordinate data.
Further, the unmanned plane, the ground control station and the RTK base station pass through LTE communication network and connect
It is connected to the server.
It further, further include at least one mobile device；The mobile device is connected to the server, for receiving
The accurate coordinate data of the unmanned plane.
Further, the mobile device also by the server send the flight control instruction to it is described nobody
Machine.
Compared with the conventional method, vantageous methods effect of the invention is as follows:
A kind of unmanned plane positioning system based on RTK disclosed by the invention, the data of RTK base station and ground control station
Data uniformly pass through server transport and are positioned and flown to unmanned plane control, change previous positioning and control difference
Using the transmission mode of two sets of data transmission modules, avoiding two sets of data transmission modules, to carry out work bring design respectively tired
It is difficult and be difficult to compatible problem, the difficulty of design is greatly reduced, the operation is stable degree of unmanned plane is improved, also saves simultaneously
The manufacturing expense and design cost of mostly a set of data transmission module, eliminate the time of debugging, improve work efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the heretofore described unmanned plane positioning system based on RTK；
Fig. 2 is the concrete structure schematic diagram of the unmanned plane positioning system of the present invention based on RTK.
Specific embodiment
In order to be fully understood from the purpose of the present invention, feature and effect, below with reference to attached drawing and specific embodiment pair
The method effect of design of the invention, specific steps and generation is described further.
As shown in Figure 1, the invention discloses a kind of unmanned plane positioning system based on RTK, including unmanned plane 1, ground control
System station 2, server 3 and RTK base station 4；
RTK base station 4 is connected to server 3, for acquiring the reference coordinate data of Satellite Observations and itself, and will
Satellite Observations and reference coordinate data are sent to server 3；
Ground control station 2 is connected to server 3, for sending flight control instruction to server 3；Flight control instruction is used
In the flight of instruction unmanned plane 1；
Server 3 for receiving Satellite Observations, reference coordinate data and flight control instruction, and is sent it to
Unmanned plane 1；
Unmanned plane 1 is connected to server 3, including flight module 11 and RTK rover station module 12；
Flight module 11, for being flown according to the flight control instruction received；
RTK rover station module 12, for acquiring the fuzzy coordinate data of unmanned plane, in conjunction with the Satellite Observations received
With reference coordinate data, the accurate coordinate data of unmanned plane are obtained by carrier phase difference technology.
Above-mentioned positioning system disclosed by the invention, the data of RTK base station and the data of ground control station are unified logical
It crosses server transport to be positioned and flown to unmanned plane control, changes previous positioning and control and use two tricks respectively
According to the transmission mode of transmission module, avoids two sets of data transmission modules and carry out work bring difficult design respectively and be difficult to simultaneous
The problem of appearance, greatly reduces the difficulty of design, improves the operation is stable degree of unmanned plane, while also saving more sets of data
The manufacturing expense and design cost of transmission module, eliminate the time of debugging, improve work efficiency.
Specifically, accurate coordinate data are sent to ground control station 2 by server 3 by unmanned plane 1.Unmanned plane in time will
Obtained accurate coordinate data are transmitted to ground control station, and it is next that ground controller can obtain the progress of accurate coordinate data in time
Step analysis and control.
Specifically, ground control station 2 includes ground control module 21 and display module 22；Ground control module 21 is for sending out
Send flight control instruction to server 3；For display module 22 for showing accurate coordinate data, user can be intuitive by display module
Ground is observed by the coordinate position of unmanned plane.Preferentially, liquid crystal display may be selected in display module；
Specifically, unmanned plane 1, ground control station 2 and RTK base station 4 are connected to server 3 by LTE communication network,
Faster than general network, and base station construction is very complete for the speed of LTE communication network, and carrying out communication by LTE network can
Greatly improve the convenient degree and stability of unmanned plane communication.
Specifically, further including at least one mobile device 5；Mobile device 5 is connected to server, for receiving unmanned plane 1
Accurate coordinate data, user at any time can be monitored the position of unmanned plane by mobile device；Preferably, mobile device can
Think mobile phone, the intelligent movables equipment such as computer or tablet computer.
Specifically, mobile device 5 also sends flight control instruction to unmanned plane 1 by server 3, by this setting,
User can manipulate unmanned plane by mobile device remote, and the opereating specification of unmanned plane has been expanded, and it is convenient to improve operation
Degree.
As shown in Fig. 2, as an improvement of the present invention, the quantity of RTK base station 4 can be multiple, nothing in this system
Fuzzy coordinate data is sent to server 3 by man-machine 1, and server 3 sits the benchmark of fuzzy coordinate data and multiple RTK base stations
Mark data are compared, and determine best RTK base station；
Best RTK base station is benchmark coordinate data and fuzzy coordinate data apart from shortest RTK base station 4；
The Satellite Observations of best RTK base station and reference coordinate data are sent to unmanned plane 1 by server 3 to be determined
Position.
By above-mentioned setting, even if without assuming that RTK base station, server still can be around unmanned plane manipulator
Select suitable RTK base station that unmanned plane is helped to be positioned among multiple RTK base stations, and preset by businessman
Multiple RTK base stations, even if when impotentia voluntarily assumes RTK base station, the clothes of connection businessman are also may be selected in consumer
Business device is positioned, and is improved the efficiency of positioning system, is saved manpower and material resources.
The preferred embodiment of the present invention has been described in detail above, it should be understood that the commonsense method personnel of this field without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, method in all this method fields
Personnel pass through logic analysis, reasoning or available according to limited experiment according to present inventive concept on the basis of existing method
Method scheme, should be among the protection scope determined by the claims.
Claims (7)
1. a kind of unmanned plane positioning system based on RTK, which is characterized in that including unmanned plane, ground control station, server and extremely
A few RTK base station；
The RTK base station is connected to the server, for acquiring the reference coordinate data of Satellite Observations and itself, and
The Satellite Observations and the reference coordinate data are sent to the server；
The ground control station is connected to the server, for sending flight control instruction to the server；The flight
Control instruction is used to indicate the flight of the unmanned plane；
The server, for receiving the Satellite Observations, the reference coordinate data and the flight control instruction, and
Send it to the unmanned plane；
The unmanned plane is connected to the server, including flight module and RTK rover station module；
The flight module, for being flown according to the flight control instruction received；
The RTK rover station module, for acquiring the fuzzy coordinate data of unmanned plane, in conjunction with the moonscope number received
According to the reference coordinate data, the accurate coordinate data of unmanned plane are obtained by carrier phase difference technology.
2. the unmanned plane positioning system according to claim 1 based on RTK, which is characterized in that the number of the RTK base station
Amount be it is multiple, the fuzzy coordinate data is sent to the server by the unmanned plane, and the server is by the fuzzy seat
Mark data are compared with the reference coordinate data of multiple RTK base stations, determine best RTK base station；
The best RTK base station is the reference coordinate data and the fuzzy coordinate data apart from the shortest RTK base
Quasi- station；
The Satellite Observations of the best RTK base station and the reference coordinate data are sent to institute by the server
Unmanned plane is stated to be positioned.
3. the unmanned plane positioning system according to claim 1 based on RTK, which is characterized in that the unmanned plane will be described
Accurate coordinate data are sent to the ground control station by the server.
4. the unmanned plane positioning system according to claim 3 based on RTK, which is characterized in that the ground control station packet
Include ground control module and display module；The ground control module is for sending the flight control instruction to the service
Device；The display module is for showing the accurate coordinate data.
5. the unmanned plane positioning system according to claim 1 based on RTK, which is characterized in that the unmanned plane, described
Face control station and the RTK base station pass through LTE communication network and are connected to the server.
6. the unmanned plane positioning system according to claim 1 based on RTK, which is characterized in that further include at least one shifting
Dynamic equipment；The mobile device is connected to the server, for receiving the accurate coordinate data of the unmanned plane.
7. the unmanned plane positioning system according to claim 6 based on RTK, which is characterized in that the mobile device is also logical
It crosses the server and sends the flight control instruction to the unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192044.3A CN109085622A (en) | 2018-10-12 | 2018-10-12 | A kind of unmanned plane positioning system based on RTK |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811192044.3A CN109085622A (en) | 2018-10-12 | 2018-10-12 | A kind of unmanned plane positioning system based on RTK |
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Cited By (4)
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| CN109991993A (en) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | The double flight control systems in the world based on RTK Differential positioning and winged control |
| CN110083178A (en) * | 2019-05-23 | 2019-08-02 | 中山大学 | A kind of unmanned plane formation positioning system based on RTK |
| CN111213104A (en) * | 2018-12-26 | 2020-05-29 | 深圳市大疆创新科技有限公司 | Data processing method, control equipment, system and storage medium |
| WO2021195971A1 (en) * | 2020-03-31 | 2021-10-07 | 深圳市大疆创新科技有限公司 | Positioning method, control method, control terminal, and movable platform |
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Cited By (4)
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| WO2021195971A1 (en) * | 2020-03-31 | 2021-10-07 | 深圳市大疆创新科技有限公司 | Positioning method, control method, control terminal, and movable platform |
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